Openblt can

firmware/bootloader/Makefile

@@ -22,8 +22,6 @@ DDEFS += -DHAL_USE_FLASH=FALSE
 DDEFS += -DEFI_USE_UART_DMA=FALSE
 
 DDEFS += -DEFI_USB_SERIAL=TRUE -DHAL_USE_USB_MSD=FALSE
-# disable CAN
-DDEFS += -DEFI_CAN_SUPPORT=FALSE
 
 # Cache is disabled on F7, H7
 DDEFS += -DSTM32_SRAM2_NOCACHE=FALSE -DSTM32_NOCACHE_SRAM1_SRAM2=FALSE -DSTM32_NOCACHE_SRAM3=FALSE
@@ -188,8 +186,10 @@ CPPSRC = $(ALLCPPSRC) \
 	$(HW_LAYER_EMS_CPP) \
 	$(BOARDCPPSRC) \
 	$(PROJECT_DIR)/util/efilib.cpp \
+	$(PROJECT_DIR)/hw_layer/drivers/can/can_config.cpp \
 	$(PROJECT_DIR)/hw_layer/pin_repository.cpp \
 	$(RUSEFI_LIB_CPP) \
+	$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_can.cpp \
 	$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_chibios.cpp \
 	$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_flash.cpp \
 	$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_usb.cpp \

firmware/bootloader/openblt_chibios/openblt_can.cpp

@@ -0,0 +1,101 @@
+#include "pch.h"
+
+#include "hal.h"
+
+#include "can_hw.h"
+
+extern "C" {
+	#include "boot.h"
+}
+
+/************************************************************************************//**
+** \brief     Initializes the CAN controller and synchronizes it to the CAN bus.
+** \return    none.
+**
+****************************************************************************************/
+extern "C" void CanInit(void)
+{
+	// TODO: init pins?
+
+	auto cfg = findCanConfig(B500KBPS);
+	canStart(&CAND1, cfg);
+}
+
+
+/************************************************************************************//**
+** \brief     Transmits a packet formatted for the communication interface.
+** \param     data Pointer to byte array with data that it to be transmitted.
+** \param     len  Number of bytes that are to be transmitted.
+** \return    none.
+**
+****************************************************************************************/
+extern "C" void CanTransmitPacket(blt_int8u *data, blt_int8u len)
+{
+	blt_int32u txMsgId = BOOT_COM_CAN_TX_MSG_ID;
+	CANTxFrame frame;
+
+	if ((txMsgId & 0x80000000) == 0)
+	{
+		/* set the 11-bit CAN identifier. */
+		frame.SID = txMsgId;
+		frame.IDE = false;
+	}
+	else
+	{
+		txMsgId &= ~0x80000000;
+		/* set the 29-bit CAN identifier. */
+		frame.EID = txMsgId & ~0x80000000; // negate the ID-type bit
+		frame.IDE = true;
+	}
+
+	// Copy data/DLC
+	frame.DLC = len;
+	memcpy(frame.data8, data, len);
+
+	canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
+}
+
+/************************************************************************************//**
+** \brief     Receives a communication interface packet if one is present.
+** \param     data Pointer to byte array where the data is to be stored.
+** \param     len Pointer where the length of the packet is to be stored.
+** \return    BLT_TRUE is a packet was received, BLT_FALSE otherwise.
+**
+****************************************************************************************/
+extern "C" blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
+{
+	constexpr blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
+	blt_bool result = BLT_FALSE;
+	CANRxFrame frame;
+
+	if (MSG_OK != canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE)) {
+		// no message was waiting
+		return BLT_FALSE;
+	}
+
+	// Check that the ID type matches this frame (std vs ext)
+	constexpr bool configuredAsExt = (rxMsgId & 0x80000000) == 0;
+	if (configuredAsExt != frame.IDE) {
+		// Wrong frame type
+		return BLT_FALSE;
+	}
+
+	// Check that the frame's ID matches
+	if (frame.IDE) {
+		if (frame.EID != (rxMsgId & ~0x80000000)) {
+			// Wrong ID
+			return BLT_FALSE;
+		}
+	} else {
+		if (frame.SID != rxMsgId) {
+			// Wrong ID
+			return BLT_FALSE;
+		}
+	}
+
+	// Copy data and length out
+	*len = frame.DLC;
+	memcpy(data, frame.data8, frame.DLC);
+
+	return BLT_TRUE;
+}

firmware/hw_layer/openblt/blt_conf.h

@@ -71,7 +71,7 @@
  *
  */
 /** \brief Enable/disable CAN transport layer. */
-#define BOOT_COM_CAN_ENABLE             (0)
+#define BOOT_COM_CAN_ENABLE             (1)
 /** \brief Configure the desired CAN baudrate. */
 #define BOOT_COM_CAN_BAUDRATE           (500000)
 /** \brief Configure CAN message ID target->host. */
@@ -83,6 +83,8 @@
 /** \brief Configure number of bytes in the host->target CAN message. */
 #define BOOT_COM_CAN_RX_MAX_DATA        (8)
 
+#define BOOT_COM_CAN_CHANNEL_INDEX (1)
+
 /* The RS232 communication interface is selected by setting the BOOT_COM_RS232_ENABLE
  * configurable to 1. Configurable BOOT_COM_RS232_BAUDRATE selects the communication speed
  * in bits/second. The maximum amount of data bytes in a message for data transmission